HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

Eigen Revision

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

main.cpp@49:73fe59148dd4, 2021-05-21 (annotated)

Committer:
NaotoMorita
Date:
Fri May 21 01:35:05 2021 +0000
Revision:
49:73fe59148dd4
Parent:
48:1065506191f2
Child:
52:abec61ea3cd3
calibration mode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 0:6b18a09a6628 1 #include "mbed.h"
naker 20:2c3f113a8e8f 2 #include "PIDcontroller.h"
NaotoMorita 0:6b18a09a6628 3 #include "SBUS.hpp"
cocorlow 6:2cba569272fe 4 #include "LoopTicker.hpp"
naker 15:6abaac6e5b03 5 #include "MPU6050.h"
NaotoMorita 38:acc7cdcf56dd 6 #include "MAG3110.h"
NaotoMorita 38:acc7cdcf56dd 7 #include "I2Cdev.h"
NaotoMorita 36:e68ce293306e 8 #include "FastPWM.h"
NaotoMorita 36:e68ce293306e 9 #include "Matrix.h"
NaotoMorita 36:e68ce293306e 10 #include "MatrixMath.h"
NaotoMorita 38:acc7cdcf56dd 11 #include "math.h"
cocorlow 6:2cba569272fe 12
NaotoMorita 17:6b7a363d06d2 13 #define MPU6050_PWR_MGMT_1 0x6B
NaotoMorita 17:6b7a363d06d2 14 #define MPU_ADDRESS 0x68
NaotoMorita 17:6b7a363d06d2 15 #define pi 3.141562
NaotoMorita 17:6b7a363d06d2 16 #define ACCEL_FSR MPU6050_ACCEL_FS_8
NaotoMorita 38:acc7cdcf56dd 17 #define ACCEL_SSF 4096.0
NaotoMorita 17:6b7a363d06d2 18 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 17:6b7a363d06d2 19 #define GYRO_SSF 131.0
NaotoMorita 17:6b7a363d06d2 20 #define MPU6050_LPF MPU6050_DLPF_BW_256
NaotoMorita 38:acc7cdcf56dd 21 #define gyro_th 20.0
NaotoMorita 38:acc7cdcf56dd 22 #define PID_dt 0.015
NaotoMorita 38:acc7cdcf56dd 23 #define servoPwmMax 1800.0
NaotoMorita 38:acc7cdcf56dd 24 #define servoPwmMin 1200.0
NaotoMorita 38:acc7cdcf56dd 25 #define motorPwmMax 2000.0
NaotoMorita 38:acc7cdcf56dd 26 #define motorPwmMin 1100.0
NaotoMorita 49:73fe59148dd4 27
NaotoMorita 49:73fe59148dd4 28 #define N_EEPROM 8
NaotoMorita 27:43bd0e444633 29
NaotoMorita 17:6b7a363d06d2 30 MPU6050 accelgyro;
NaotoMorita 38:acc7cdcf56dd 31 MAG3110 mag(PB_9,PB_8);
NaotoMorita 0:6b18a09a6628 32 SBUS sbus(PD_5, PD_6);
NaotoMorita 0:6b18a09a6628 33 Serial pc(USBTX, USBRX);
NaotoMorita 38:acc7cdcf56dd 34 DigitalIn userButton(USER_BUTTON);
NaotoMorita 49:73fe59148dd4 35 DigitalIn locdef1(PG_2);
NaotoMorita 49:73fe59148dd4 36 DigitalIn locdef2(PG_3);
NaotoMorita 48:1065506191f2 37 FastPWM servo(PE_9);
NaotoMorita 36:e68ce293306e 38 PID pitchPID(5.0, 0,0,PID_dt); //rad
NaotoMorita 38:acc7cdcf56dd 39 PID pitchratePID(0.5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 17:6b7a363d06d2 40 Timer t;
cocorlow 3:79e62f9b13c8 41
NaotoMorita 36:e68ce293306e 42 Matrix qhat(4,1);
NaotoMorita 44:f571273d3223 43 Matrix qhat_gyro(4,1);
NaotoMorita 36:e68ce293306e 44 Matrix Phat(4,4);
NaotoMorita 37:dad55cf05e3d 45 Matrix Qgyro(3,3);
NaotoMorita 36:e68ce293306e 46 Matrix Racc(3,3);
NaotoMorita 38:acc7cdcf56dd 47 Matrix Rmag(3,3);
NaotoMorita 38:acc7cdcf56dd 48 Matrix D(3,3);
NaotoMorita 36:e68ce293306e 49
NaotoMorita 38:acc7cdcf56dd 50 int loop_count = 0;
NaotoMorita 40:869f3791a3e2 51 int obs_count = 0;
NaotoMorita 36:e68ce293306e 52 float att_dt = 0.01;
naker 23:4a490fa8bf4a 53 float rc[16];
NaotoMorita 38:acc7cdcf56dd 54 float pitch = 0.0;
NaotoMorita 38:acc7cdcf56dd 55 float roll = 0.0;
NaotoMorita 38:acc7cdcf56dd 56 float yaw = 0.0;
NaotoMorita 44:f571273d3223 57
NaotoMorita 44:f571273d3223 58 float pitch_g = 0.0;
NaotoMorita 44:f571273d3223 59 float roll_g = 0.0;
NaotoMorita 44:f571273d3223 60 float yaw_g = 0.0;
NaotoMorita 44:f571273d3223 61
NaotoMorita 17:6b7a363d06d2 62 int16_t ax, ay, az;
NaotoMorita 17:6b7a363d06d2 63 int16_t gx, gy, gz;
NaotoMorita 38:acc7cdcf56dd 64 MotionSensorDataUnits mdata;
NaotoMorita 38:acc7cdcf56dd 65 float magval[3] = {1.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 66 float acc_x,acc_y,acc_z;
NaotoMorita 38:acc7cdcf56dd 67 float dynacc_x,dynacc_y,dynacc_z;
NaotoMorita 38:acc7cdcf56dd 68 float gyro_x,gyro_y,gyro_z;
NaotoMorita 38:acc7cdcf56dd 69 float mag_x,mag_y,mag_z;
NaotoMorita 40:869f3791a3e2 70
NaotoMorita 40:869f3791a3e2 71 float LPacc_x=0.0;
NaotoMorita 40:869f3791a3e2 72 float LPacc_y=0.0;
NaotoMorita 40:869f3791a3e2 73 float LPacc_z=0.0;
NaotoMorita 40:869f3791a3e2 74 float LPmag_x = 0.0;
NaotoMorita 40:869f3791a3e2 75 float LPmag_y = 0.0;
NaotoMorita 40:869f3791a3e2 76 float LPmag_z = 0.0;;
NaotoMorita 40:869f3791a3e2 77
cocorlow 3:79e62f9b13c8 78 int out1, out2;
NaotoMorita 48:1065506191f2 79 float scaledServoOut[1]= {0};
NaotoMorita 48:1065506191f2 80 float servoOut[1] = {1500.0};
NaotoMorita 38:acc7cdcf56dd 81
NaotoMorita 38:acc7cdcf56dd 82 float accnorm;
NaotoMorita 38:acc7cdcf56dd 83 float magnorm;
NaotoMorita 40:869f3791a3e2 84 float LPaccnorm;
NaotoMorita 40:869f3791a3e2 85 float LPmagnorm;
NaotoMorita 38:acc7cdcf56dd 86 float accrefnorm;
NaotoMorita 38:acc7cdcf56dd 87 float magrefnorm;
NaotoMorita 38:acc7cdcf56dd 88
NaotoMorita 40:869f3791a3e2 89
NaotoMorita 38:acc7cdcf56dd 90 float val_thmg = 0.0;
NaotoMorita 40:869f3791a3e2 91 float th_mg = 0.0;
NaotoMorita 40:869f3791a3e2 92 float dynaccnorm = 0.0;
NaotoMorita 40:869f3791a3e2 93 float accnormerr = 0.0;
NaotoMorita 38:acc7cdcf56dd 94 float accref[3] = {0, 0, -0.98};
NaotoMorita 38:acc7cdcf56dd 95 float magref[3] = {0.65, 0, 0.75};
NaotoMorita 38:acc7cdcf56dd 96
NaotoMorita 49:73fe59148dd4 97 int calibrationFlag = 0;
NaotoMorita 49:73fe59148dd4 98 int pos_tail = 1;//1:left 2:center 3:right
NaotoMorita 49:73fe59148dd4 99 int agoffset[6] = {0, 0, 0, 386, -450, 48};
NaotoMorita 49:73fe59148dd4 100 float magbias[4] = {-215.833374, 207.740616, -167.444565, 36.688690};
NaotoMorita 49:73fe59148dd4 101 float pitch_align = 0.0*3.141562/180.0
NaotoMorita 49:73fe59148dd4 102 float roll_align = 0.0*3.141562/180.0
NaotoMorita 49:73fe59148dd4 103 // eepromのread writeのためのunionを定義
NaotoMorita 49:73fe59148dd4 104 int address = 0xAE; // EEPROMの3つの入力が全て+より
NaotoMorita 49:73fe59148dd4 105 int pointeraddress = 0;
NaotoMorita 49:73fe59148dd4 106
NaotoMorita 49:73fe59148dd4 107 I2C i2c(PB_9,PB_8); // sda, scl
NaotoMorita 49:73fe59148dd4 108 union U{
NaotoMorita 49:73fe59148dd4 109 int i[N_EEPROM]; // 0: flag(>1で正常に書き込まれた状態) 1 ~ 3: 磁場の中心座標, 4: 磁場の半径、 5~7; mag, 8~10: acc bias
NaotoMorita 49:73fe59148dd4 110 char c[N_EEPROM*4]; // floatはcharの4倍
NaotoMorita 49:73fe59148dd4 111 };
cocorlow 3:79e62f9b13c8 112
NaotoMorita 38:acc7cdcf56dd 113 void writeSdcard()
NaotoMorita 38:acc7cdcf56dd 114 {
NaotoMorita 38:acc7cdcf56dd 115 //magcal.getExtremes(&magmin[0],&magmax[0]);
NaotoMorita 38:acc7cdcf56dd 116 //pc.printf("%f %f %f %f %f %f\r\n",magmin[0],magmin[1],magmin[2],magmax[0],magmax[1],magmax[2]);
NaotoMorita 38:acc7cdcf56dd 117 //pc.printf("%f %f %f %f %f %f %f %f %f %f %f %f \r\n",acc_x,acc_y,acc_z,mag_x,mag_y,mag_z,accref[0],accref[1],accref[2],magref[0],magref[1],magref[2]);
NaotoMorita 49:73fe59148dd4 118 //pc.printf("%f %d %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0/att_dt,obs_count,acc_x,acc_y,acc_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi);
NaotoMorita 44:f571273d3223 119 //pc.printf("%f %f %f %f %f %f\r\n",roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi);
NaotoMorita 44:f571273d3223 120 //pc.printf("%f %f %f %f : %f %f %f\r\n",float(obs_count)/100.0,th_mg,dynaccnorm,accnormerr,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 49:73fe59148dd4 121 //pc.printf("%f %f \r\n",rc[1],servoOut[0]);
NaotoMorita 49:73fe59148dd4 122 pc.printf("%f %f %f %f %f %f\r\n",gyro_x*180.0f/pi,gyro_y*180.0f/pi,gyro_z*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi);
NaotoMorita 49:73fe59148dd4 123 //pc.printf("%f %f\r\n",roll_g*180.0f/pi,pitch_g*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 124 //pc.printf("%f %f %f %f %f %f\r\n",dynacc_x,dynacc_y,dynacc_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 44:f571273d3223 125 //pc.printf("%f %f %f : %f %f %f\r\n",magref[0],magref[1],magref[2],mag_x,mag_y,mag_z);
NaotoMorita 38:acc7cdcf56dd 126 //pc.printf("%f %f %f %f %f : %f %f %f %f %f %f\r\n",f,magbias[0],magbias[1],magbias[2],magbias[3],magval[0],magval[1],magval[2],mdata.x,mdata.y,mdata.z);
NaotoMorita 38:acc7cdcf56dd 127 }
NaotoMorita 27:43bd0e444633 128
NaotoMorita 49:73fe59148dd4 129 // eeprom書き込み・読み込みに必要な関数
NaotoMorita 49:73fe59148dd4 130 void writeEEPROM(int address, unsigned int eeaddress, char *data, int size)
NaotoMorita 49:73fe59148dd4 131 {
NaotoMorita 49:73fe59148dd4 132 char i2cBuffer[size + 2];
NaotoMorita 49:73fe59148dd4 133 i2cBuffer[0] = (unsigned char)(eeaddress >> 8); // MSB
NaotoMorita 49:73fe59148dd4 134 i2cBuffer[1] = (unsigned char)(eeaddress & 0xFF); // LSB
NaotoMorita 49:73fe59148dd4 135
NaotoMorita 49:73fe59148dd4 136 for (int i = 0; i < size; i++) {
NaotoMorita 49:73fe59148dd4 137 i2cBuffer[i + 2] = data[i];
NaotoMorita 49:73fe59148dd4 138 }
NaotoMorita 49:73fe59148dd4 139
NaotoMorita 49:73fe59148dd4 140 int result = i2c.write(address, i2cBuffer, size + 2, false);
NaotoMorita 49:73fe59148dd4 141 //sleep_ms(500);
NaotoMorita 49:73fe59148dd4 142 }
NaotoMorita 49:73fe59148dd4 143
NaotoMorita 49:73fe59148dd4 144 // this function has no read limit
NaotoMorita 49:73fe59148dd4 145 void readEEPROM(int address, unsigned int eeaddress, char *data, int size)
NaotoMorita 49:73fe59148dd4 146 {
NaotoMorita 49:73fe59148dd4 147 char i2cBuffer[2];
NaotoMorita 49:73fe59148dd4 148 i2cBuffer[0] = (unsigned char)(eeaddress >> 8); // MSB
NaotoMorita 49:73fe59148dd4 149 i2cBuffer[1] = (unsigned char)(eeaddress & 0xFF); // LSB
NaotoMorita 49:73fe59148dd4 150
NaotoMorita 49:73fe59148dd4 151 // Reset eeprom pointer address
NaotoMorita 49:73fe59148dd4 152 int result = i2c.write(address, i2cBuffer, 2, false);
NaotoMorita 49:73fe59148dd4 153
NaotoMorita 49:73fe59148dd4 154 //sleep_ms(500);
NaotoMorita 49:73fe59148dd4 155
NaotoMorita 49:73fe59148dd4 156 // Read eeprom
NaotoMorita 49:73fe59148dd4 157 i2c.read(address, data, size);
NaotoMorita 49:73fe59148dd4 158 //sleep_ms(500);
NaotoMorita 49:73fe59148dd4 159 }
NaotoMorita 49:73fe59148dd4 160
NaotoMorita 35:4535af88f7bf 161 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 7:70161eb0f854 162 {
cocorlow 7:70161eb0f854 163 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cocorlow 7:70161eb0f854 164 }
NaotoMorita 27:43bd0e444633 165
NaotoMorita 38:acc7cdcf56dd 166 void calcMagRef(float mx, float my, float mz){
NaotoMorita 44:f571273d3223 167
NaotoMorita 44:f571273d3223 168 Matrix magvec(3,1);
NaotoMorita 44:f571273d3223 169 magvec << mx << my << mz;
NaotoMorita 44:f571273d3223 170 Matrix magnedvec = MatrixMath::Transpose(D)*magvec;
NaotoMorita 44:f571273d3223 171 magref[0] = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1));
NaotoMorita 38:acc7cdcf56dd 172 magref[1] = 0.0;
NaotoMorita 44:f571273d3223 173 magref[2] = magnedvec(3,1);
NaotoMorita 38:acc7cdcf56dd 174 }
NaotoMorita 38:acc7cdcf56dd 175
NaotoMorita 38:acc7cdcf56dd 176
NaotoMorita 38:acc7cdcf56dd 177 void getIMUval(){
NaotoMorita 38:acc7cdcf56dd 178 // gx gy gz ax ay az
NaotoMorita 38:acc7cdcf56dd 179 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
NaotoMorita 38:acc7cdcf56dd 180 ax = ax - agoffset[0];
NaotoMorita 38:acc7cdcf56dd 181 ay = ay - agoffset[1];
NaotoMorita 38:acc7cdcf56dd 182 az = -az - agoffset[2];
NaotoMorita 38:acc7cdcf56dd 183 gx = gx - agoffset[3];
NaotoMorita 38:acc7cdcf56dd 184 gy = gy - agoffset[4];
NaotoMorita 38:acc7cdcf56dd 185 gz = -gz - agoffset[5];
NaotoMorita 38:acc7cdcf56dd 186 // 加速度値を分解能で割って加速度(G)に変換する
NaotoMorita 38:acc7cdcf56dd 187 acc_x = float(ax) / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g
NaotoMorita 38:acc7cdcf56dd 188 acc_y = float(ay) / ACCEL_SSF;
NaotoMorita 38:acc7cdcf56dd 189 acc_z = float(az) / ACCEL_SSF;
NaotoMorita 38:acc7cdcf56dd 190 // 角速度値を分解能で割って角速度(rad per sec)に変換する
NaotoMorita 38:acc7cdcf56dd 191 gyro_x = float(gx) / GYRO_SSF * 0.0174533f; // (rad/s)
NaotoMorita 38:acc7cdcf56dd 192 gyro_y = float(gy) / GYRO_SSF * 0.0174533f;
NaotoMorita 38:acc7cdcf56dd 193 gyro_z = float(gz) / GYRO_SSF * 0.0174533f;
NaotoMorita 38:acc7cdcf56dd 194 mag.getAxis(mdata); // flush the magnetmeter
NaotoMorita 38:acc7cdcf56dd 195 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 38:acc7cdcf56dd 196 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 38:acc7cdcf56dd 197 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 38:acc7cdcf56dd 198 mag_x = -magval[0]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 199 mag_y = -magval[1]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 200 mag_z = -magval[2]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 201
NaotoMorita 40:869f3791a3e2 202 float lpc_acc = 0.15;
NaotoMorita 40:869f3791a3e2 203 LPacc_x = lpc_acc*acc_x+(1.0-lpc_acc)*LPacc_x;
NaotoMorita 40:869f3791a3e2 204 LPacc_y = lpc_acc*acc_y+(1.0-lpc_acc)*LPacc_y;
NaotoMorita 40:869f3791a3e2 205 LPacc_z = lpc_acc*acc_z+(1.0-lpc_acc)*LPacc_z;
NaotoMorita 40:869f3791a3e2 206
NaotoMorita 40:869f3791a3e2 207 float lpc_mag = 0.15;
NaotoMorita 40:869f3791a3e2 208 LPmag_x = lpc_mag*mag_x+(1.0-lpc_mag)*LPmag_x;
NaotoMorita 40:869f3791a3e2 209 LPmag_y = lpc_mag*mag_y+(1.0-lpc_mag)*LPmag_y;
NaotoMorita 40:869f3791a3e2 210 LPmag_z = lpc_mag*mag_z+(1.0-lpc_mag)*LPmag_z;
NaotoMorita 40:869f3791a3e2 211
NaotoMorita 38:acc7cdcf56dd 212 accnorm = sqrt(acc_x*acc_x+acc_y*acc_y+acc_z*acc_z);
NaotoMorita 38:acc7cdcf56dd 213 magnorm = sqrt(mag_x*mag_x+mag_y*mag_y+mag_z*mag_z);
NaotoMorita 40:869f3791a3e2 214 LPaccnorm = sqrt(LPacc_x*LPacc_x+LPacc_y*LPacc_y+LPacc_z*LPacc_z);
NaotoMorita 40:869f3791a3e2 215 LPmagnorm = sqrt(LPmag_x*LPmag_x+LPmag_y*LPmag_y+LPmag_z*LPmag_z);
NaotoMorita 38:acc7cdcf56dd 216 accrefnorm = sqrt(accref[0]*accref[0]+accref[1]*accref[1]+accref[2]*accref[2]);
NaotoMorita 38:acc7cdcf56dd 217 magrefnorm = sqrt(magref[0]*magref[0]+magref[1]*magref[1]+magref[2]*magref[2]);
NaotoMorita 40:869f3791a3e2 218 calcMagRef(LPmag_x/LPmagnorm, LPmag_y/LPmagnorm, LPmag_z/LPmagnorm);
NaotoMorita 40:869f3791a3e2 219
NaotoMorita 40:869f3791a3e2 220
NaotoMorita 38:acc7cdcf56dd 221 }
NaotoMorita 38:acc7cdcf56dd 222
NaotoMorita 38:acc7cdcf56dd 223 void updateBetweenMeasures(){
NaotoMorita 40:869f3791a3e2 224 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 40:869f3791a3e2 225 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 40:869f3791a3e2 226 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 40:869f3791a3e2 227 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 40:869f3791a3e2 228
NaotoMorita 40:869f3791a3e2 229 Matrix B(4,3);
NaotoMorita 40:869f3791a3e2 230 B << q1 << q2 << q3
NaotoMorita 40:869f3791a3e2 231 <<-q0 << q3 <<-q2
NaotoMorita 40:869f3791a3e2 232 <<-q3 <<-q0 << q1
NaotoMorita 40:869f3791a3e2 233 << q2 <<-q1 <<-q0;
NaotoMorita 40:869f3791a3e2 234 B *= 0.5f;
NaotoMorita 40:869f3791a3e2 235
NaotoMorita 38:acc7cdcf56dd 236 Matrix phi(4,4);
NaotoMorita 38:acc7cdcf56dd 237 phi << 1.0 << -gyro_x*0.5*att_dt <<-gyro_y*0.5*att_dt <<-gyro_z*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 238 << gyro_x*0.5*att_dt << 1.0 << gyro_z*0.5*att_dt <<-gyro_y*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 239 << gyro_y*0.5*att_dt << -gyro_z*0.5*att_dt << 1.0 << gyro_x*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 240 << gyro_z*0.5*att_dt << gyro_y*0.5*att_dt <<-gyro_x*0.5*att_dt << 1.0;
NaotoMorita 44:f571273d3223 241
NaotoMorita 38:acc7cdcf56dd 242 qhat = phi*qhat;
NaotoMorita 38:acc7cdcf56dd 243 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 244 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 245
NaotoMorita 44:f571273d3223 246 qhat_gyro = phi*qhat_gyro;
NaotoMorita 44:f571273d3223 247 qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat_gyro),qhat_gyro));
NaotoMorita 44:f571273d3223 248 qhat_gyro *= (1.0f/ qnorm);
NaotoMorita 44:f571273d3223 249
NaotoMorita 38:acc7cdcf56dd 250 Phat = phi*Phat*MatrixMath::Transpose(phi)+B*Qgyro*MatrixMath::Transpose(B);
NaotoMorita 38:acc7cdcf56dd 251
NaotoMorita 40:869f3791a3e2 252 q0 = qhat.getNumber( 1, 1 );
NaotoMorita 40:869f3791a3e2 253 q1 = qhat.getNumber( 2, 1 );
NaotoMorita 40:869f3791a3e2 254 q2 = qhat.getNumber( 3, 1 );
NaotoMorita 40:869f3791a3e2 255 q3 = qhat.getNumber( 4, 1 );
NaotoMorita 40:869f3791a3e2 256
NaotoMorita 40:869f3791a3e2 257 D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3);
NaotoMorita 40:869f3791a3e2 258 D.add(1,2,2*(q1*q2 + q0*q3));
NaotoMorita 40:869f3791a3e2 259 D.add(1,3,2*(q1*q3 - q0*q2));
NaotoMorita 40:869f3791a3e2 260 D.add(2,1,2*(q1*q2 - q0*q3));
NaotoMorita 40:869f3791a3e2 261 D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3);
NaotoMorita 40:869f3791a3e2 262 D.add(2,3,2*(q2*q3 + q0*q1));
NaotoMorita 40:869f3791a3e2 263 D.add(3,1,2*(q1*q3 + q0*q2));
NaotoMorita 40:869f3791a3e2 264 D.add(3,2,2*(q2*q3 - q0*q1));
NaotoMorita 40:869f3791a3e2 265 D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3);
NaotoMorita 38:acc7cdcf56dd 266
NaotoMorita 38:acc7cdcf56dd 267 }
NaotoMorita 38:acc7cdcf56dd 268
NaotoMorita 38:acc7cdcf56dd 269 void updateAcrossMeasures(float v1,float v2, float v3, float u1, float u2, float u3, Matrix R){
NaotoMorita 38:acc7cdcf56dd 270
NaotoMorita 38:acc7cdcf56dd 271 Matrix u(3,1);
NaotoMorita 38:acc7cdcf56dd 272 Matrix v(3,1);
NaotoMorita 38:acc7cdcf56dd 273
NaotoMorita 38:acc7cdcf56dd 274 u << u1 << u2 <<u3;
NaotoMorita 38:acc7cdcf56dd 275 v << v1 << v2 <<v3;
NaotoMorita 38:acc7cdcf56dd 276
NaotoMorita 38:acc7cdcf56dd 277 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 278 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 279 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 280 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 281
NaotoMorita 38:acc7cdcf56dd 282 Matrix A1(3,3);
NaotoMorita 38:acc7cdcf56dd 283 A1 << q0 << q3 << -q2
NaotoMorita 38:acc7cdcf56dd 284 <<-q3 << q0 << q1
NaotoMorita 38:acc7cdcf56dd 285 <<q2 <<-q1 <<q0;
NaotoMorita 38:acc7cdcf56dd 286 A1 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 287
NaotoMorita 38:acc7cdcf56dd 288 Matrix A2(3,3);
NaotoMorita 38:acc7cdcf56dd 289 A2 << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 290 << q2 <<-q1 << q0
NaotoMorita 38:acc7cdcf56dd 291 << q3 <<-q0 <<-q1;
NaotoMorita 38:acc7cdcf56dd 292 A2 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 293
NaotoMorita 38:acc7cdcf56dd 294 Matrix A3(3,3);
NaotoMorita 38:acc7cdcf56dd 295 A3 <<-q2 << q1 <<-q0
NaotoMorita 38:acc7cdcf56dd 296 << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 297 << q0 << q3 <<-q2;
NaotoMorita 38:acc7cdcf56dd 298 A3 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 299
NaotoMorita 38:acc7cdcf56dd 300 Matrix A4(3,3);
NaotoMorita 38:acc7cdcf56dd 301 A4 <<-q3 << q0 << q1
NaotoMorita 38:acc7cdcf56dd 302 <<-q0 <<-q3 << q2
NaotoMorita 38:acc7cdcf56dd 303 << q1 << q2 << q3;
NaotoMorita 38:acc7cdcf56dd 304 A4 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 305
NaotoMorita 38:acc7cdcf56dd 306 Matrix H(3,4);
NaotoMorita 38:acc7cdcf56dd 307
NaotoMorita 38:acc7cdcf56dd 308 Matrix ab1(A1*u);
NaotoMorita 38:acc7cdcf56dd 309 Matrix ab2(A2*u);
NaotoMorita 38:acc7cdcf56dd 310 Matrix ab3(A3*u);
NaotoMorita 38:acc7cdcf56dd 311 Matrix ab4(A4*u);
NaotoMorita 38:acc7cdcf56dd 312
NaotoMorita 38:acc7cdcf56dd 313 H << ab1.getNumber( 1, 1 ) << ab2.getNumber( 1, 1 ) << ab3.getNumber( 1, 1 ) << ab4.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 314 << ab1.getNumber( 2, 1 ) << ab2.getNumber( 2, 1 ) << ab3.getNumber( 2, 1 ) << ab4.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 315 << ab1.getNumber( 3, 1 ) << ab2.getNumber( 3, 1 ) << ab3.getNumber( 3, 1 ) << ab4.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 316
NaotoMorita 38:acc7cdcf56dd 317
NaotoMorita 38:acc7cdcf56dd 318 Matrix K(4,3);
NaotoMorita 38:acc7cdcf56dd 319 K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 38:acc7cdcf56dd 320
NaotoMorita 38:acc7cdcf56dd 321 Matrix dq(4,1);
NaotoMorita 38:acc7cdcf56dd 322 dq = K*(v-D*u);
NaotoMorita 38:acc7cdcf56dd 323 qhat = qhat+dq;
NaotoMorita 38:acc7cdcf56dd 324
NaotoMorita 38:acc7cdcf56dd 325 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 326 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 327
NaotoMorita 38:acc7cdcf56dd 328 Matrix eye4(4,4);
NaotoMorita 38:acc7cdcf56dd 329 eye4 << 1 << 0 << 0 << 0
NaotoMorita 38:acc7cdcf56dd 330 << 0 << 1 << 0 << 0
NaotoMorita 38:acc7cdcf56dd 331 << 0 << 0 << 1 << 0
NaotoMorita 38:acc7cdcf56dd 332 << 0 << 0 << 0 << 1;
NaotoMorita 38:acc7cdcf56dd 333 Phat = (eye4-K*H)*Phat*MatrixMath::Transpose(eye4-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 38:acc7cdcf56dd 334 }
NaotoMorita 38:acc7cdcf56dd 335
NaotoMorita 38:acc7cdcf56dd 336 void computeAngles()
naker 20:2c3f113a8e8f 337 {
NaotoMorita 38:acc7cdcf56dd 338 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 339 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 340 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 341 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 342 roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align;
NaotoMorita 38:acc7cdcf56dd 343 pitch = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align;
NaotoMorita 38:acc7cdcf56dd 344 yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 345
NaotoMorita 44:f571273d3223 346 q0 = qhat_gyro.getNumber( 1, 1 );
NaotoMorita 44:f571273d3223 347 q1 = qhat_gyro.getNumber( 2, 1 );
NaotoMorita 44:f571273d3223 348 q2 = qhat_gyro.getNumber( 3, 1 );
NaotoMorita 44:f571273d3223 349 q3 = qhat_gyro.getNumber( 4, 1 );
NaotoMorita 44:f571273d3223 350 roll_g = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align;
NaotoMorita 44:f571273d3223 351 pitch_g = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align;
NaotoMorita 44:f571273d3223 352 yaw_g = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 353
NaotoMorita 38:acc7cdcf56dd 354 }
NaotoMorita 38:acc7cdcf56dd 355
NaotoMorita 38:acc7cdcf56dd 356 void triad(float fb1,float fb2, float fb3, float fn1, float fn2, float fn3,float mb1,float mb2, float mb3, float mn1, float mn2, float mn3){
NaotoMorita 38:acc7cdcf56dd 357 Matrix W1(3,1);
NaotoMorita 38:acc7cdcf56dd 358 W1 << fb1 << fb2<< fb3;
NaotoMorita 38:acc7cdcf56dd 359 Matrix W2(3,1);
NaotoMorita 38:acc7cdcf56dd 360 W2 << mb1 << mb2<< mb3;
NaotoMorita 38:acc7cdcf56dd 361
NaotoMorita 38:acc7cdcf56dd 362 Matrix V1(3,1);
NaotoMorita 38:acc7cdcf56dd 363 V1 << fn1 << fn2<< fn3;
NaotoMorita 38:acc7cdcf56dd 364 Matrix V2(3,1);
NaotoMorita 38:acc7cdcf56dd 365 V2 << mn1 << mn2<< mn3;
NaotoMorita 38:acc7cdcf56dd 366
NaotoMorita 38:acc7cdcf56dd 367
NaotoMorita 38:acc7cdcf56dd 368 Matrix Ou2(3,1);
NaotoMorita 38:acc7cdcf56dd 369 Ou2 << W1.getNumber( 2, 1 )*W2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*W2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*W2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*W2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*W2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*W2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 370 Ou2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou2),Ou2));
NaotoMorita 38:acc7cdcf56dd 371 Matrix Ou3(3,1);
NaotoMorita 38:acc7cdcf56dd 372 Ou3 << W1.getNumber( 2, 1 )*Ou2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*Ou2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*Ou2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*Ou2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*Ou2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*Ou2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 373 Ou3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou3),Ou3));
NaotoMorita 38:acc7cdcf56dd 374 Matrix R2(3,1);
NaotoMorita 38:acc7cdcf56dd 375 R2 << V1.getNumber( 2, 1 )*V2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*V2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*V2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*V2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*V2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*V2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 376 R2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R2),R2));
NaotoMorita 38:acc7cdcf56dd 377 Matrix R3(3,1);
NaotoMorita 38:acc7cdcf56dd 378 R3 << V1.getNumber( 2, 1 )*R2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*R2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*R2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*R2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*R2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*R2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 379 R3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R3),R3));
NaotoMorita 38:acc7cdcf56dd 380
NaotoMorita 38:acc7cdcf56dd 381 Matrix Mou(3,3);
NaotoMorita 38:acc7cdcf56dd 382 Mou << W1.getNumber( 1, 1 ) << Ou2.getNumber( 1, 1 ) << Ou3.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 383 << W1.getNumber( 2, 1 ) << Ou2.getNumber( 2, 1 ) << Ou3.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 384 << W1.getNumber( 3, 1 ) << Ou2.getNumber( 3, 1 ) << Ou3.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 385 Matrix Mr(3,3);
NaotoMorita 38:acc7cdcf56dd 386 Mr << V1.getNumber( 1, 1 ) << R2.getNumber( 1, 1 ) << R3.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 387 << V1.getNumber( 2, 1 ) << R2.getNumber( 2, 1 ) << R3.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 388 << V1.getNumber( 3, 1 ) << R2.getNumber( 3, 1 ) << R3.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 389
NaotoMorita 38:acc7cdcf56dd 390 Matrix Cbn = Mr*MatrixMath::Transpose(Mou);
NaotoMorita 38:acc7cdcf56dd 391
NaotoMorita 38:acc7cdcf56dd 392 float sqtrp1 = sqrt(1.0+Cbn.getNumber( 1, 1 )+Cbn.getNumber( 2, 2 )+Cbn.getNumber( 3, 3 ));
NaotoMorita 38:acc7cdcf56dd 393
NaotoMorita 38:acc7cdcf56dd 394 qhat.add(1,1,0.5*sqtrp1);
NaotoMorita 38:acc7cdcf56dd 395 qhat.add(2,1,-(Cbn.getNumber( 2, 3 )-Cbn.getNumber( 3, 2 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 396 qhat.add(3,1,-(Cbn.getNumber( 3, 1 )-Cbn.getNumber( 1, 3 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 397 qhat.add(4,1,-(Cbn.getNumber( 1, 2 )-Cbn.getNumber( 2, 1 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 398
NaotoMorita 38:acc7cdcf56dd 399 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 400 qhat *= (1.0f/ qnorm);
NaotoMorita 44:f571273d3223 401
NaotoMorita 44:f571273d3223 402 qhat_gyro = qhat;
NaotoMorita 44:f571273d3223 403
NaotoMorita 44:f571273d3223 404 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 44:f571273d3223 405 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 44:f571273d3223 406 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 44:f571273d3223 407 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 44:f571273d3223 408
NaotoMorita 44:f571273d3223 409 D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 410 D.add(1,2,2*(q1*q2 + q0*q3));
NaotoMorita 44:f571273d3223 411 D.add(1,3,2*(q1*q3 - q0*q2));
NaotoMorita 44:f571273d3223 412 D.add(2,1,2*(q1*q2 - q0*q3));
NaotoMorita 44:f571273d3223 413 D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 414 D.add(2,3,2*(q2*q3 + q0*q1));
NaotoMorita 44:f571273d3223 415 D.add(3,1,2*(q1*q3 + q0*q2));
NaotoMorita 44:f571273d3223 416 D.add(3,2,2*(q2*q3 - q0*q1));
NaotoMorita 44:f571273d3223 417 D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3);
NaotoMorita 44:f571273d3223 418
NaotoMorita 38:acc7cdcf56dd 419 }
NaotoMorita 38:acc7cdcf56dd 420
NaotoMorita 38:acc7cdcf56dd 421 void calcDynAcc(){
NaotoMorita 40:869f3791a3e2 422 dynacc_x = LPacc_x-(D.getNumber( 1, 1 )*accref[0]+D.getNumber( 1, 2 )*accref[1]+D.getNumber( 1, 3 )*accref[2]);
NaotoMorita 40:869f3791a3e2 423 dynacc_y = LPacc_y-(D.getNumber( 2, 1 )*accref[0]+D.getNumber( 2, 2 )*accref[1]+D.getNumber( 2, 3 )*accref[2]);
NaotoMorita 40:869f3791a3e2 424 dynacc_z = LPacc_z-(D.getNumber( 3, 1 )*accref[0]+D.getNumber( 3, 2 )*accref[1]+D.getNumber( 3, 3 )*accref[2]);
NaotoMorita 38:acc7cdcf56dd 425 }
NaotoMorita 38:acc7cdcf56dd 426
naker 22:da9893b71f24 427 // 割り込まれた時点での出力(computeの結果）を返す関数
NaotoMorita 27:43bd0e444633 428 void calcServoOut(){
NaotoMorita 28:fc6c46c1db65 429 if(sbus.failSafe == false) {
NaotoMorita 28:fc6c46c1db65 430 // sbusデータの読み込み
NaotoMorita 28:fc6c46c1db65 431 for (int i =0 ; i < 16;i ++){
NaotoMorita 35:4535af88f7bf 432 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 27:43bd0e444633 433 }
NaotoMorita 28:fc6c46c1db65 434 }
NaotoMorita 28:fc6c46c1db65 435
NaotoMorita 28:fc6c46c1db65 436 pitchPID.setProcessValue(pitch);
NaotoMorita 28:fc6c46c1db65 437 pitchratePID.setProcessValue(gyro_y);
NaotoMorita 45:b439a135c24b 438 float de = pitchPID.compute()+pitchratePID.compute()-rc[1];
NaotoMorita 28:fc6c46c1db65 439
NaotoMorita 48:1065506191f2 440 scaledServoOut[0]=de;
NaotoMorita 31:8d02f3b9a067 441
NaotoMorita 38:acc7cdcf56dd 442 float LP_servo = 0.2;
NaotoMorita 36:e68ce293306e 443 for(int i = 0;i<sizeof(servoOut)/sizeof(servoOut[0]);i++){
NaotoMorita 36:e68ce293306e 444 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
NaotoMorita 28:fc6c46c1db65 445 if(servoOut[i]<servoPwmMin) {
NaotoMorita 28:fc6c46c1db65 446 servoOut[i] = servoPwmMin;
NaotoMorita 28:fc6c46c1db65 447 };
NaotoMorita 28:fc6c46c1db65 448 if(servoOut[i]>servoPwmMax) {
NaotoMorita 28:fc6c46c1db65 449 servoOut[i] = servoPwmMax;
NaotoMorita 28:fc6c46c1db65 450 };
NaotoMorita 28:fc6c46c1db65 451 }
NaotoMorita 28:fc6c46c1db65 452
NaotoMorita 48:1065506191f2 453 servo.pulsewidth_us(servoOut[0]);
NaotoMorita 32:c4f06cb0e1d6 454
NaotoMorita 44:f571273d3223 455 //観測アップデート
NaotoMorita 44:f571273d3223 456 calcDynAcc();
NaotoMorita 44:f571273d3223 457 th_mg = abs(acos((LPmag_x*LPacc_x+LPmag_y*LPacc_y+LPmag_z*LPacc_z)/LPmagnorm/LPaccnorm)-val_thmg);
NaotoMorita 44:f571273d3223 458 dynaccnorm = sqrt(dynacc_x*dynacc_x+dynacc_y*dynacc_y+dynacc_z*dynacc_z);
NaotoMorita 44:f571273d3223 459 accnormerr = abs(LPaccnorm-accrefnorm);
NaotoMorita 44:f571273d3223 460 //静止時100個の平均　0.01877522 0.00514146 0.00477393
NaotoMorita 44:f571273d3223 461
NaotoMorita 44:f571273d3223 462 //int ang_th = th_mg < 0.01877522;
NaotoMorita 44:f571273d3223 463 //int dyn_th = dynaccnorm < 0.00514146;
NaotoMorita 44:f571273d3223 464 //int norm_th = accnormerr< 0.00477393;
NaotoMorita 44:f571273d3223 465 int ang_th = th_mg < 0.01877522/5.0;
NaotoMorita 44:f571273d3223 466 int dyn_th = dynaccnorm < 0.00514146/5.0;
NaotoMorita 44:f571273d3223 467 int norm_th = accnormerr< 0.00477393/5.0;
NaotoMorita 44:f571273d3223 468 if(dyn_th+ang_th+norm_th>0){
NaotoMorita 44:f571273d3223 469 //if(dyn_th+ang_th+norm_th>-1){
NaotoMorita 44:f571273d3223 470 obs_count += 1;
NaotoMorita 44:f571273d3223 471 updateAcrossMeasures(LPmag_x/LPmagnorm,LPmag_y/LPmagnorm,LPmag_z/LPmagnorm,magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm,Rmag);
NaotoMorita 44:f571273d3223 472 updateAcrossMeasures(LPacc_x/LPaccnorm,LPacc_y/LPaccnorm,LPacc_z/LPaccnorm,accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,Racc);
NaotoMorita 44:f571273d3223 473 }
NaotoMorita 44:f571273d3223 474
NaotoMorita 44:f571273d3223 475 if(loop_count >= 10){
NaotoMorita 31:8d02f3b9a067 476 writeSdcard();
NaotoMorita 36:e68ce293306e 477 loop_count = 1;
NaotoMorita 40:869f3791a3e2 478 obs_count = 0;
NaotoMorita 27:43bd0e444633 479 }else{
NaotoMorita 27:43bd0e444633 480 loop_count +=1;
naker 26:62d9857eaecc 481 }
NaotoMorita 44:f571273d3223 482
NaotoMorita 44:f571273d3223 483
naker 22:da9893b71f24 484 }
cocorlow 7:70161eb0f854 485
NaotoMorita 27:43bd0e444633 486 int main()
NaotoMorita 36:e68ce293306e 487 {
NaotoMorita 28:fc6c46c1db65 488 pitchPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 489 pitchratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 490 pitchPID.setBias(0.0);
NaotoMorita 48:1065506191f2 491 pitchratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 492 pitchPID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 493 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 494 pitchPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 495 pitchratePID.setInputLimits(-pi,pi);
NaotoMorita 29:34ee662f454e 496
NaotoMorita 48:1065506191f2 497 servo.period_us(15000.0);
NaotoMorita 48:1065506191f2 498 servo.pulsewidth_us(1500.0);
NaotoMorita 36:e68ce293306e 499
NaotoMorita 38:acc7cdcf56dd 500 pc.baud(57600);
NaotoMorita 36:e68ce293306e 501 accelgyro.initialize();
NaotoMorita 36:e68ce293306e 502 //加速度計のフルスケールレンジを設定
NaotoMorita 36:e68ce293306e 503 accelgyro.setFullScaleAccelRange(ACCEL_FSR);
NaotoMorita 38:acc7cdcf56dd 504 //角速度計のフルスケールレンジを設定
NaotoMorita 36:e68ce293306e 505 accelgyro.setFullScaleGyroRange(GYRO_FSR);
NaotoMorita 36:e68ce293306e 506 //MPU6050のLPFを設定
NaotoMorita 36:e68ce293306e 507 accelgyro.setDLPFMode(MPU6050_LPF);
NaotoMorita 38:acc7cdcf56dd 508 //地磁気
NaotoMorita 38:acc7cdcf56dd 509 mag.enable();
NaotoMorita 49:73fe59148dd4 510
NaotoMorita 49:73fe59148dd4 511 qhat << 1 << 0 << 0 << 0;
NaotoMorita 38:acc7cdcf56dd 512
NaotoMorita 49:73fe59148dd4 513 D.add(1,1,1.0);
NaotoMorita 49:73fe59148dd4 514 D.add(2,2,1.0);
NaotoMorita 49:73fe59148dd4 515 D.add(3,3,1.0);
NaotoMorita 49:73fe59148dd4 516
NaotoMorita 49:73fe59148dd4 517 Phat.add(1,1,0.1);
NaotoMorita 49:73fe59148dd4 518 Phat.add(2,2,0.1);
NaotoMorita 49:73fe59148dd4 519 Phat.add(3,3,0.1);
NaotoMorita 49:73fe59148dd4 520 Phat.add(4,4,0.1);
NaotoMorita 38:acc7cdcf56dd 521
NaotoMorita 49:73fe59148dd4 522 Qgyro.add(1,1,0.0224);
NaotoMorita 49:73fe59148dd4 523 Qgyro.add(2,2,0.0224);
NaotoMorita 49:73fe59148dd4 524 Qgyro.add(3,3,0.0224);
NaotoMorita 49:73fe59148dd4 525
NaotoMorita 49:73fe59148dd4 526 Racc.add(1,1,0.0330*100);
NaotoMorita 49:73fe59148dd4 527 Racc.add(2,2,0.0330*100);
NaotoMorita 49:73fe59148dd4 528 Racc.add(3,3,0.0330*100);
NaotoMorita 49:73fe59148dd4 529
NaotoMorita 49:73fe59148dd4 530 Rmag.add(1,1,1.0);
NaotoMorita 49:73fe59148dd4 531 Rmag.add(2,2,1.0);
NaotoMorita 49:73fe59148dd4 532 Rmag.add(3,3,1.0);
NaotoMorita 49:73fe59148dd4 533
NaotoMorita 49:73fe59148dd4 534 calibrationFlag = userButton.read();
NaotoMorita 49:73fe59148dd4 535 if(calibrationFlag == 0){
NaotoMorita 38:acc7cdcf56dd 536
NaotoMorita 49:73fe59148dd4 537 pc.printf("reading calibration value\r\n");
NaotoMorita 49:73fe59148dd4 538 //キャリブレーション値を取得
NaotoMorita 49:73fe59148dd4 539 U read_calib;
NaotoMorita 49:73fe59148dd4 540 readEEPROM(address, pointeraddress, read_calib.c, 32);
NaotoMorita 49:73fe59148dd4 541 wait(3);
NaotoMorita 49:73fe59148dd4 542 for (int i = 0 ; i < N_EEPROM; i ++){
NaotoMorita 49:73fe59148dd4 543 pos_tail = read_calib.i[0];
NaotoMorita 49:73fe59148dd4 544 agoffset[3] = float(read_calib.i[5]);
NaotoMorita 49:73fe59148dd4 545 agoffset[4] = float(read_calib.i[6]);
NaotoMorita 49:73fe59148dd4 546 agoffset[5] = float(read_calib.i[7]);
NaotoMorita 49:73fe59148dd4 547 magbias[0] = float(read_calib.i[1])/1000.0;
NaotoMorita 49:73fe59148dd4 548 magbias[1] = float(read_calib.i[2])/1000.0;
NaotoMorita 49:73fe59148dd4 549 magbias[2] = float(read_calib.i[3])/1000.0;
NaotoMorita 49:73fe59148dd4 550 magbias[3] = float(read_calib.i[4])/1000.0;
NaotoMorita 49:73fe59148dd4 551 }
NaotoMorita 49:73fe59148dd4 552 switch(pos_tail){
NaotoMorita 49:73fe59148dd4 553 case 1:
NaotoMorita 49:73fe59148dd4 554 pc.printf("This MBED is Located at Left \r\n");
NaotoMorita 49:73fe59148dd4 555 break;
NaotoMorita 49:73fe59148dd4 556 case 2:
NaotoMorita 49:73fe59148dd4 557 pc.printf("This MBED is Located at Center \r\n");
NaotoMorita 49:73fe59148dd4 558 break;
NaotoMorita 49:73fe59148dd4 559 case 3:
NaotoMorita 49:73fe59148dd4 560 pc.printf("This MBED is Located at Right \r\n");
NaotoMorita 49:73fe59148dd4 561 break;
NaotoMorita 49:73fe59148dd4 562 default: // error situation
NaotoMorita 49:73fe59148dd4 563 pc.printf("error\r\n");
NaotoMorita 49:73fe59148dd4 564 break;
NaotoMorita 49:73fe59148dd4 565 }
NaotoMorita 38:acc7cdcf56dd 566 getIMUval();
NaotoMorita 38:acc7cdcf56dd 567 triad(acc_x/accnorm,acc_y/accnorm,acc_z/accnorm, accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,mag_x/magnorm,mag_y/magnorm,mag_z/magnorm, magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm);
NaotoMorita 43:f0dd73430192 568 float sumLPaccnorm = 0;
NaotoMorita 38:acc7cdcf56dd 569 for(int i = 0; i<1000 ;i++){
NaotoMorita 38:acc7cdcf56dd 570 getIMUval();
NaotoMorita 38:acc7cdcf56dd 571 val_thmg += acos((mag_x*acc_x+mag_y*acc_y+mag_z*acc_z)/magnorm/accnorm);
NaotoMorita 43:f0dd73430192 572 sumLPaccnorm += LPaccnorm;
NaotoMorita 38:acc7cdcf56dd 573 }
NaotoMorita 43:f0dd73430192 574 accref[2]=-sumLPaccnorm/1000;
NaotoMorita 38:acc7cdcf56dd 575 val_thmg /= 1000;
NaotoMorita 38:acc7cdcf56dd 576 LoopTicker PIDtick;
NaotoMorita 38:acc7cdcf56dd 577 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 38:acc7cdcf56dd 578
NaotoMorita 38:acc7cdcf56dd 579 t.start();
NaotoMorita 28:fc6c46c1db65 580
NaotoMorita 38:acc7cdcf56dd 581 while(1) {
NaotoMorita 38:acc7cdcf56dd 582 float tstart = t.read();
NaotoMorita 38:acc7cdcf56dd 583 //姿勢角を更新
NaotoMorita 38:acc7cdcf56dd 584 getIMUval();
NaotoMorita 38:acc7cdcf56dd 585 updateBetweenMeasures();
NaotoMorita 38:acc7cdcf56dd 586 computeAngles();
NaotoMorita 38:acc7cdcf56dd 587 PIDtick.loop();
NaotoMorita 38:acc7cdcf56dd 588
NaotoMorita 38:acc7cdcf56dd 589 float tend = t.read();
NaotoMorita 38:acc7cdcf56dd 590 att_dt = (tend-tstart);
NaotoMorita 38:acc7cdcf56dd 591 }
NaotoMorita 38:acc7cdcf56dd 592 }else{
NaotoMorita 49:73fe59148dd4 593 pc.printf("\r\nEnter to Calibration Mode\r\n");
NaotoMorita 49:73fe59148dd4 594 wait(5);
NaotoMorita 49:73fe59148dd4 595 pc.printf("Acc and Gyro Calibration Start\r\n");
NaotoMorita 49:73fe59148dd4 596
NaotoMorita 49:73fe59148dd4 597 int gxs = 0;
NaotoMorita 49:73fe59148dd4 598 int gys = 0;
NaotoMorita 49:73fe59148dd4 599 int gzs = 0;
NaotoMorita 49:73fe59148dd4 600 int iter_n = 10000;
NaotoMorita 49:73fe59148dd4 601 for(int i = 0;i<iter_n ;i++){
NaotoMorita 49:73fe59148dd4 602 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
NaotoMorita 49:73fe59148dd4 603 gxs += gx;
NaotoMorita 49:73fe59148dd4 604 gys += gy;
NaotoMorita 49:73fe59148dd4 605 gzs -= gz;
NaotoMorita 49:73fe59148dd4 606 //wait(0.01);
NaotoMorita 49:73fe59148dd4 607 }
NaotoMorita 49:73fe59148dd4 608 gxs = gxs /iter_n;
NaotoMorita 49:73fe59148dd4 609 gys = gys /iter_n;
NaotoMorita 49:73fe59148dd4 610 gzs = gzs /iter_n;
NaotoMorita 49:73fe59148dd4 611 agoffset[3] = gxs;
NaotoMorita 49:73fe59148dd4 612 agoffset[4] = gys;
NaotoMorita 49:73fe59148dd4 613 agoffset[5] = gzs;
NaotoMorita 49:73fe59148dd4 614 pc.printf("Gyrooffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs);
NaotoMorita 49:73fe59148dd4 615
NaotoMorita 49:73fe59148dd4 616 pc.printf("Mag Calibration Start\r\n");
NaotoMorita 49:73fe59148dd4 617 float f = 0;
NaotoMorita 49:73fe59148dd4 618 while(1){
NaotoMorita 49:73fe59148dd4 619 mag.getAxis(mdata); // flush the magnetmeter
NaotoMorita 49:73fe59148dd4 620 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 49:73fe59148dd4 621 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 49:73fe59148dd4 622 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 49:73fe59148dd4 623 float mag_r = magval[0]*magval[0] + magval[1]*magval[1] + magval[2]*magval[2];
NaotoMorita 49:73fe59148dd4 624 float lr = 0.00001f;
NaotoMorita 49:73fe59148dd4 625 f = mag_r - magbias[3]*magbias[3];
NaotoMorita 49:73fe59148dd4 626 magbias[0] = magbias[0] + 4 * lr * f * magval[0];
NaotoMorita 49:73fe59148dd4 627 magbias[1] = magbias[1] + 4 * lr * f * magval[1];
NaotoMorita 49:73fe59148dd4 628 magbias[2] = magbias[2] + 4 * lr * f * magval[2];
NaotoMorita 49:73fe59148dd4 629 magbias[3] = magbias[3] + 4 * lr * f * magbias[3];
NaotoMorita 49:73fe59148dd4 630
NaotoMorita 49:73fe59148dd4 631 if(userButton.read() == 1){
NaotoMorita 49:73fe59148dd4 632 break;
NaotoMorita 49:73fe59148dd4 633 }
NaotoMorita 49:73fe59148dd4 634 wait(0.001);
NaotoMorita 49:73fe59148dd4 635 }
NaotoMorita 49:73fe59148dd4 636 pc.printf("Magbias : %f, %f, %f, %f\r\n",magbias[0],magbias[1],magbias[2],magbias[3]);
NaotoMorita 49:73fe59148dd4 637
NaotoMorita 49:73fe59148dd4 638 pc.printf("Determine Position of MBED\r\n");
NaotoMorita 49:73fe59148dd4 639 wait(1);
NaotoMorita 49:73fe59148dd4 640 pc.printf("Press the user button\r\n");
NaotoMorita 49:73fe59148dd4 641
NaotoMorita 49:73fe59148dd4 642 while(userButton.read() == 0){wait(0.01);};
NaotoMorita 49:73fe59148dd4 643 while(1){
NaotoMorita 49:73fe59148dd4 644 pc.printf("Left\r\n");
NaotoMorita 49:73fe59148dd4 645 wait(2);
NaotoMorita 49:73fe59148dd4 646 if(userButton.read() == 0){
NaotoMorita 49:73fe59148dd4 647 pos_tail=1;
NaotoMorita 49:73fe59148dd4 648 break;
NaotoMorita 49:73fe59148dd4 649 };
NaotoMorita 49:73fe59148dd4 650 pc.printf("Center\r\n");
NaotoMorita 49:73fe59148dd4 651 wait(2);
NaotoMorita 49:73fe59148dd4 652 if(userButton.read() == 0){
NaotoMorita 49:73fe59148dd4 653 pos_tail=2;
NaotoMorita 49:73fe59148dd4 654 break;
NaotoMorita 49:73fe59148dd4 655 };
NaotoMorita 49:73fe59148dd4 656 pc.printf("Right\r\n");
NaotoMorita 49:73fe59148dd4 657 wait(2);
NaotoMorita 49:73fe59148dd4 658 if(userButton.read() == 0){
NaotoMorita 49:73fe59148dd4 659 pos_tail=3;
NaotoMorita 49:73fe59148dd4 660 break;
NaotoMorita 49:73fe59148dd4 661 };
NaotoMorita 49:73fe59148dd4 662 };
NaotoMorita 49:73fe59148dd4 663 switch(pos_tail){
NaotoMorita 49:73fe59148dd4 664 case 1:
NaotoMorita 49:73fe59148dd4 665 pc.printf("This MBED is Located at Left \r\n");
NaotoMorita 49:73fe59148dd4 666 break;
NaotoMorita 49:73fe59148dd4 667 case 2:
NaotoMorita 49:73fe59148dd4 668 pc.printf("This MBED is Located at Center \r\n");
NaotoMorita 49:73fe59148dd4 669 break;
NaotoMorita 49:73fe59148dd4 670 case 3:
NaotoMorita 49:73fe59148dd4 671 pc.printf("This MBED is Located at Right \r\n");
NaotoMorita 49:73fe59148dd4 672 break;
NaotoMorita 49:73fe59148dd4 673 default: // error situation
NaotoMorita 49:73fe59148dd4 674 pc.printf("error\r\n");
NaotoMorita 49:73fe59148dd4 675 break;
NaotoMorita 49:73fe59148dd4 676 }
NaotoMorita 49:73fe59148dd4 677
NaotoMorita 49:73fe59148dd4 678
NaotoMorita 49:73fe59148dd4 679
NaotoMorita 49:73fe59148dd4 680 pc.printf("Writing to EEPROM...\r\n");
NaotoMorita 49:73fe59148dd4 681 U transfer_data;
NaotoMorita 49:73fe59148dd4 682 transfer_data.i[0] = pos_tail;
NaotoMorita 49:73fe59148dd4 683 for (int i = 1; i < 5; i++) {
NaotoMorita 49:73fe59148dd4 684 if (!isnan(magbias[i - 1]))
NaotoMorita 49:73fe59148dd4 685 transfer_data.i[i] = int(magbias[i - 1]*1000); // intに丸めた値を送る。
NaotoMorita 49:73fe59148dd4 686 else {
NaotoMorita 49:73fe59148dd4 687 pc.printf("Mag bias is NOT transferred\n");
NaotoMorita 49:73fe59148dd4 688 transfer_data.i[i] = 100;
NaotoMorita 49:73fe59148dd4 689 }
NaotoMorita 49:73fe59148dd4 690 }
NaotoMorita 49:73fe59148dd4 691 // gxs,gys,gzsを送る
NaotoMorita 49:73fe59148dd4 692 int gxyzs[3] = {gxs, gys, gzs};
NaotoMorita 49:73fe59148dd4 693 for (int i = 5; i < 8; i++) {
NaotoMorita 49:73fe59148dd4 694 if (!isnan(gxyzs[i - 5]))
NaotoMorita 49:73fe59148dd4 695 transfer_data.i[i] = gxyzs[i - 5];
NaotoMorita 49:73fe59148dd4 696 else {
NaotoMorita 49:73fe59148dd4 697 pc.printf("gxyzs is NOT transferred\n");
NaotoMorita 49:73fe59148dd4 698 transfer_data.i[i] = 0;
NaotoMorita 49:73fe59148dd4 699 }
NaotoMorita 49:73fe59148dd4 700 }
NaotoMorita 49:73fe59148dd4 701
NaotoMorita 49:73fe59148dd4 702 for (int i = 0; i < N_EEPROM; i++) {
NaotoMorita 49:73fe59148dd4 703 pc.printf("transfer_data[%d]: %\d\r\n", i, transfer_data.i[i]);
NaotoMorita 49:73fe59148dd4 704 }
NaotoMorita 49:73fe59148dd4 705 writeEEPROM(address, pointeraddress, transfer_data.c, N_EEPROM*4);
NaotoMorita 49:73fe59148dd4 706 wait(3);
NaotoMorita 49:73fe59148dd4 707
NaotoMorita 49:73fe59148dd4 708 U read_test;
NaotoMorita 49:73fe59148dd4 709 readEEPROM(address, pointeraddress, read_test.c, N_EEPROM*4);
NaotoMorita 49:73fe59148dd4 710 wait(3);
NaotoMorita 49:73fe59148dd4 711 for (int i = 0 ; i < N_EEPROM; i ++){
NaotoMorita 49:73fe59148dd4 712 pc.printf("transfer_data[%d]: %d\r\n",i, read_test.i[i]);
NaotoMorita 49:73fe59148dd4 713 }
NaotoMorita 49:73fe59148dd4 714
NaotoMorita 49:73fe59148dd4 715 float pitch_align = 0.0*3.141562/180.0
NaotoMorita 49:73fe59148dd4 716 float roll_align = 0.0*3.141562/180.0
NaotoMorita 49:73fe59148dd4 717
NaotoMorita 49:73fe59148dd4 718 for (int i =1 ; i<1000; i++){
NaotoMorita 49:73fe59148dd4 719 float tstart = t.read();
NaotoMorita 49:73fe59148dd4 720 //姿勢角を更新
NaotoMorita 49:73fe59148dd4 721 getIMUval();
NaotoMorita 49:73fe59148dd4 722 updateBetweenMeasures();
NaotoMorita 49:73fe59148dd4 723 updateAcrossMeasures(LPmag_x/LPmagnorm,LPmag_y/LPmagnorm,LPmag_z/LPmagnorm,magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm,Rmag);
NaotoMorita 49:73fe59148dd4 724 updateAcrossMeasures(LPacc_x/LPaccnorm,LPacc_y/LPaccnorm,LPacc_z/LPaccnorm,accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,Racc);
NaotoMorita 49:73fe59148dd4 725 computeAngles();
NaotoMorita 49:73fe59148dd4 726
NaotoMorita 49:73fe59148dd4 727 float tend = t.read();
NaotoMorita 49:73fe59148dd4 728 att_dt = (tend-tstart);
NaotoMorita 49:73fe59148dd4 729 }
NaotoMorita 49:73fe59148dd4 730
NaotoMorita 49:73fe59148dd4 731 while(1) {wait(1000);}
naker 20:2c3f113a8e8f 732 }
NaotoMorita 0:6b18a09a6628 733 }